/**
 ******************************************************************************
 *
 * @file       uavobjectfield.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @see        The GNU Public License (GPL) Version 3
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup UAVObjectsPlugin UAVObjects Plugin
 * @{
 * @brief      The UAVUObjects GCS plugin
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#include "uavobjectfield.h"
#include <QtEndian>
#include <QDebug>
#include <QtWidgets>

UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString &limits)
{
    QStringList elementNames;

    // Set element names
    for (quint32 n = 0; n < numElements; ++n) {
        elementNames.append(QString("%1").arg(n));
    }
    // Initialize
    constructorInitialize(name, description, units, type, elementNames, options, limits);
}

UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits)
{
    constructorInitialize(name, description, units, type, elementNames, options, limits);
}

void UAVObjectField::constructorInitialize(const QString & name, const QString & description, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits)
{
    // Copy params
    this->name         = name;
    this->description  = description;
    this->units        = units;
    this->type         = type;
    this->options      = options;
    this->numElements  = elementNames.length();
    this->offset       = 0;
    this->data         = NULL;
    this->obj = NULL;
    this->elementNames = elementNames;
    // Set field size
    switch (type) {
    case INT8:
        numBytesPerElement = sizeof(qint8);
        break;
    case INT16:
        numBytesPerElement = sizeof(qint16);
        break;
    case INT32:
        numBytesPerElement = sizeof(qint32);
        break;
    case UINT8:
        numBytesPerElement = sizeof(quint8);
        break;
    case UINT16:
        numBytesPerElement = sizeof(quint16);
        break;
    case UINT32:
        numBytesPerElement = sizeof(quint32);
        break;
    case FLOAT32:
        numBytesPerElement = sizeof(quint32);
        break;
    case ENUM:
        numBytesPerElement = sizeof(quint8);
        break;
    case BITFIELD:
        numBytesPerElement = sizeof(quint8);
        this->options = QStringList() << tr("0") << tr("1");
        break;
    case STRING:
        numBytesPerElement = sizeof(quint8);
        break;
    default:
        numBytesPerElement = 0;
    }
    limitsInitialize(limits);
}

void UAVObjectField::limitsInitialize(const QString &limits)
{
    // Limit string format:
    // %        - start char
    // XXXX     - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
    // TY       - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
    // VAL      - values for TY separated by colon
    // ,        - rule separator (may have leading or trailing spaces)
    // ;        - element separator (may have leading or trailing spaces)
    //
    // Examples:
    // Disable few flight modes for Revo (00903):
    // "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
    // Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
    // "%0401BI:3; %BE:2.3:5"
    // Set applicable range [0-500] for 3 elements of array for all boards:
    // "%BE:0:500; %BE:0:500; %BE:0:500"
    if (limits.isEmpty()) {
        return;
    }
    QStringList stringPerElement = limits.split(";");
    quint32 index = 0;
    foreach(QString str, stringPerElement) {
        QStringList ruleList = str.split(",");

        QList<LimitStruct> limitList;
        foreach(QString rule, ruleList) {
            QString _str = rule.trimmed();

            if (_str.isEmpty()) {
                continue;
            }
            QStringList valuesPerElement = _str.split(":");
            LimitStruct lstruc;
            bool startFlag    = valuesPerElement.at(0).startsWith("%");
            bool maxIndexFlag = (int)(index) < (int)numElements;
            bool elemNumberSizeFlag = valuesPerElement.at(0).size() == 3;
            bool aux;
            valuesPerElement.at(0).mid(1, 4).toInt(&aux, 16);
            bool b4 = ((valuesPerElement.at(0).size()) == 7 && aux);
            if (startFlag && maxIndexFlag && (elemNumberSizeFlag || b4)) {
                if (b4) {
                    lstruc.board = valuesPerElement.at(0).mid(1, 4).toInt(&aux, 16);
                } else {
                    lstruc.board = 0;
                }
                if (valuesPerElement.at(0).right(2) == "EQ") {
                    lstruc.type = EQUAL;
                } else if (valuesPerElement.at(0).right(2) == "NE") {
                    lstruc.type = NOT_EQUAL;
                } else if (valuesPerElement.at(0).right(2) == "BE") {
                    lstruc.type = BETWEEN;
                } else if (valuesPerElement.at(0).right(2) == "BI") {
                    lstruc.type = BIGGER;
                } else if (valuesPerElement.at(0).right(2) == "SM") {
                    lstruc.type = SMALLER;
                } else {
                    qDebug() << "limits parsing failed (invalid property) on UAVObjectField" << name;
                }
                valuesPerElement.removeAt(0);
                foreach(QString _value, valuesPerElement) {
                    QString value = _value.trimmed();

                    switch (type) {
                    case UINT8:
                    case UINT16:
                    case UINT32:
                    case BITFIELD:
                        lstruc.values.append((quint32)value.toULong());
                        break;
                    case INT8:
                    case INT16:
                    case INT32:
                        lstruc.values.append((qint32)value.toLong());
                        break;
                    case FLOAT32:
                        lstruc.values.append((float)value.toFloat());
                        break;
                    case ENUM:
                        lstruc.values.append((QString)value);
                        break;
                    case STRING:
                        lstruc.values.append((QString)value);
                        break;
                    default:
                        lstruc.values.append(QVariant());
                    }
                }
                limitList.append(lstruc);
            } else {
                if (!valuesPerElement.at(0).isEmpty() && !startFlag) {
                    qDebug() << "limits parsing failed (property doesn't start with %) on UAVObjectField" << name;
                } else if (!maxIndexFlag) {
                    qDebug() << "limits parsing failed (index>numelements) on UAVObjectField" << name << "index" << index << "numElements" << numElements;
                } else if (!elemNumberSizeFlag || !b4) {
                    qDebug() << "limits parsing failed limit not starting with %XX or %YYYYXX where XX is the limit type and YYYY is the board type on UAVObjectField" << name;
                }
            }
        }
        elementLimits.insert(index, limitList);
        ++index;
    }
    // foreach(QList<LimitStruct> limitList, elementLimits) {
    // foreach(LimitStruct limit, limitList) {
    // qDebug() << "Limit type" << limit.type << "for board" << limit.board << "for field" << getName();
    // foreach(QVariant var, limit.values) {
    // qDebug() << "value" << var;
    // }
    // }
    // }
}
bool UAVObjectField::isWithinLimits(QVariant var, quint32 index, int board)
{
    if (!elementLimits.keys().contains(index)) {
        return true;
    }

    foreach(LimitStruct struc, elementLimits.value(index)) {
        if ((struc.board != board) && board != 0 && struc.board != 0) {
            continue;
        }
        switch (struc.type) {
        case EQUAL:
            switch (type) {
            case INT8:
            case INT16:
            case INT32:
                foreach(QVariant vars, struc.values) {
                    if (var.toInt() == vars.toInt()) {
                        return true;
                    }
                }
                return false;

                break;
            case UINT8:
            case UINT16:
            case UINT32:
            case BITFIELD:
                foreach(QVariant vars, struc.values) {
                    if (var.toUInt() == vars.toUInt()) {
                        return true;
                    }
                }
                return false;

                break;
            case ENUM:
            case STRING:
                foreach(QVariant vars, struc.values) {
                    if (var.toString() == vars.toString()) {
                        return true;
                    }
                }
                return false;

                break;
            case FLOAT32:
                foreach(QVariant vars, struc.values) {
                    if (var.toFloat() == vars.toFloat()) {
                        return true;
                    }
                }
                return false;

                break;
            default:
                return true;
            }
            break;
        case NOT_EQUAL:
            switch (type) {
            case INT8:
            case INT16:
            case INT32:
                foreach(QVariant vars, struc.values) {
                    if (var.toInt() == vars.toInt()) {
                        return false;
                    }
                }
                return true;

                break;
            case UINT8:
            case UINT16:
            case UINT32:
            case BITFIELD:
                foreach(QVariant vars, struc.values) {
                    if (var.toUInt() == vars.toUInt()) {
                        return false;
                    }
                }
                return true;

                break;
            case ENUM:
            case STRING:
                foreach(QVariant vars, struc.values) {
                    if (var.toString() == vars.toString()) {
                        return false;
                    }
                }
                return true;

                break;
            case FLOAT32:
                foreach(QVariant vars, struc.values) {
                    if (var.toFloat() == vars.toFloat()) {
                        return false;
                    }
                }
                return true;

                break;
            default:
                return true;
            }
            break;
        case BETWEEN:
            if (struc.values.length() < 2) {
                qDebug() << __FUNCTION__ << "between limit with less than 1 pair, aborting; field:" << name;
                return true;
            }
            if (struc.values.length() > 2) {
                qDebug() << __FUNCTION__ << "between limit with more than 1 pair, using first; field" << name;
            }
            switch (type) {
            case INT8:
            case INT16:
            case INT32:
                if (!(var.toInt() >= struc.values.at(0).toInt() && var.toInt() <= struc.values.at(1).toInt())) {
                    return false;
                }
                return true;

                break;
            case UINT8:
            case UINT16:
            case UINT32:
            case BITFIELD:
                if (!(var.toUInt() >= struc.values.at(0).toUInt() && var.toUInt() <= struc.values.at(1).toUInt())) {
                    return false;
                }
                return true;

                break;
            case ENUM:
                if (!(options.indexOf(var.toString()) >= options.indexOf(struc.values.at(0).toString()) && options.indexOf(var.toString()) <= options.indexOf(struc.values.at(1).toString()))) {
                    return false;
                }
                return true;

                break;
            case STRING:
                return true;

                break;
            case FLOAT32:
                if (!(var.toFloat() >= struc.values.at(0).toFloat() && var.toFloat() <= struc.values.at(1).toFloat())) {
                    return false;
                }
                return true;

                break;
            default:
                return true;
            }
            break;
        case BIGGER:
            if (struc.values.length() < 1) {
                qDebug() << __FUNCTION__ << "BIGGER limit with less than 1 value, aborting; field:" << name;
                return true;
            }
            if (struc.values.length() > 1) {
                qDebug() << __FUNCTION__ << "BIGGER limit with more than 1 value, using first; field" << name;
            }
            switch (type) {
            case INT8:
            case INT16:
            case INT32:
                if (!(var.toInt() >= struc.values.at(0).toInt())) {
                    return false;
                }
                return true;

                break;
            case UINT8:
            case UINT16:
            case UINT32:
            case BITFIELD:
                if (!(var.toUInt() >= struc.values.at(0).toUInt())) {
                    return false;
                }
                return true;

                break;
            case ENUM:
                if (!(options.indexOf(var.toString()) >= options.indexOf(struc.values.at(0).toString()))) {
                    return false;
                }
                return true;

                break;
            case STRING:
                return true;

                break;
            case FLOAT32:
                if (!(var.toFloat() >= struc.values.at(0).toFloat())) {
                    return false;
                }
                return true;

                break;
            default:
                return true;
            }
            break;
        case SMALLER:
            switch (type) {
            case INT8:
            case INT16:
            case INT32:
                if (!(var.toInt() <= struc.values.at(0).toInt())) {
                    return false;
                }
                return true;

                break;
            case UINT8:
            case UINT16:
            case UINT32:
            case BITFIELD:
                if (!(var.toUInt() <= struc.values.at(0).toUInt())) {
                    return false;
                }
                return true;

                break;
            case ENUM:
                if (!(options.indexOf(var.toString()) <= options.indexOf(struc.values.at(0).toString()))) {
                    return false;
                }
                return true;

                break;
            case STRING:
                return true;

                break;
            case FLOAT32:
                if (!(var.toFloat() <= struc.values.at(0).toFloat())) {
                    return false;
                }
                return true;

                break;
            default:
                return true;
            }
        default:
            return true;
        }
    }
    return true;
}

QString UAVObjectField::getLimitsAsString(quint32 index, int board)
{
    QString limitString;

    if (elementLimits.keys().contains(index)) {
        foreach(LimitStruct struc, elementLimits.value(index)) {
            if ((struc.board != board) && board != 0 && struc.board != 0) {
                continue;
            }
            switch (struc.type) {
            case EQUAL:
            {
                limitString.append(tr("one of")).append(" [");
                bool first = true;
                foreach(QVariant var, struc.values) {
                    if (!first) {
                        limitString.append(", ");
                    }
                    limitString.append(var.toString());
                    first = false;
                }
                return limitString.append("]");
            }
            case NOT_EQUAL:
            {
                limitString.append(tr("none of")).append(" [");
                bool first = true;
                foreach(QVariant var, struc.values) {
                    if (!first) {
                        limitString.append(", ");
                    }
                    limitString.append(var.toString());
                    first = false;
                }
                return limitString.append("]");
            }
            case BIGGER: return limitString.append(QString("%1 %2").arg(tr("more than"), struc.values.at(0).toString()));

            case BETWEEN: return limitString.append(QString("%1 %2 %3 %4")
                                                    .arg(tr("between"), struc.values.at(0).toString(),
                                                         tr(" and "), struc.values.at(1).toString()));

            case SMALLER: return limitString.append(QString("%1 %2").arg(tr("less than"), struc.values.at(0).toString()));

            default:
                break;
            }
        }
    }
    return limitString;
}

QVariant UAVObjectField::getMaxLimit(quint32 index, int board)
{
    if (!elementLimits.keys().contains(index)) {
        return QVariant();
    }
    foreach(LimitStruct struc, elementLimits.value(index)) {
        if ((struc.board != board) && board != 0 && struc.board != 0) {
            continue;
        }
        switch (struc.type) {
        case EQUAL:
        case NOT_EQUAL:
        case BIGGER:
            return QVariant();

        case BETWEEN:
            return struc.values.at(1);

        case SMALLER:
            return struc.values.at(0);

        default:
            return QVariant();
        }
    }
    return QVariant();
}
QVariant UAVObjectField::getMinLimit(quint32 index, int board)
{
    if (!elementLimits.keys().contains(index)) {
        return QVariant();
    }
    foreach(LimitStruct struc, elementLimits.value(index)) {
        if ((struc.board != board) && board != 0 && struc.board != 0) {
            return QVariant();
        }
        switch (struc.type) {
        case EQUAL:
        case NOT_EQUAL:
        case SMALLER:
            return QVariant();

        case BETWEEN:
            return struc.values.at(0);

        case BIGGER:
            return struc.values.at(0);

        default:
            return QVariant();
        }
    }
    return QVariant();
}
void UAVObjectField::initialize(quint8 *data, quint32 dataOffset, UAVObject *obj)
{
    this->data   = data;
    this->offset = dataOffset;
    this->obj    = obj;
    clear();
}

UAVObjectField::FieldType UAVObjectField::getType()
{
    return type;
}

QString UAVObjectField::getTypeAsString()
{
    switch (type) {
    case UAVObjectField::INT8:
        return "int8";

    case UAVObjectField::INT16:
        return "int16";

    case UAVObjectField::INT32:
        return "int32";

    case UAVObjectField::UINT8:
        return "uint8";

    case UAVObjectField::UINT16:
        return "uint16";

    case UAVObjectField::UINT32:
        return "uint32";

    case UAVObjectField::FLOAT32:
        return "float32";

    case UAVObjectField::ENUM:
        return "enum";

    case UAVObjectField::BITFIELD:
        return "bitfield";

    case UAVObjectField::STRING:
        return "string";

    default:
        return "";
    }
}

QStringList UAVObjectField::getElementNames()
{
    return elementNames;
}

UAVObject *UAVObjectField::getObject()
{
    return obj;
}

void UAVObjectField::clear()
{
    QMutexLocker locker(obj->getMutex());

    switch (type) {
    case BITFIELD:
        memset(&data[offset], 0, numBytesPerElement * ((quint32)(1 + (numElements - 1) / 8)));
        break;
    default:
        memset(&data[offset], 0, numBytesPerElement * numElements);
        break;
    }
}

QString UAVObjectField::getName()
{
    return name;
}

QString UAVObjectField::getDescription()
{
    return description;
}

QString UAVObjectField::getUnits()
{
    return units;
}

QStringList UAVObjectField::getOptions()
{
    return options;
}

quint32 UAVObjectField::getNumElements()
{
    return numElements;
}

quint32 UAVObjectField::getDataOffset()
{
    return offset;
}

quint32 UAVObjectField::getNumBytes()
{
    switch (type) {
    case BITFIELD:
        return numBytesPerElement * ((quint32)(1 + (numElements - 1) / 8));

        break;
    default:
        return numBytesPerElement * numElements;

        break;
    }
}

QString UAVObjectField::toString()
{
    QString sout;

    sout.append(QString("%1: [ ").arg(name));
    for (unsigned int n = 0; n < numElements; ++n) {
        sout.append(QString("%1 ").arg(getDouble(n)));
    }
    sout.append(QString("] %1\n").arg(units));
    return sout;
}

void UAVObjectField::toXML(QXmlStreamWriter *xmlWriter)
{
    xmlWriter->writeStartElement("field");
    xmlWriter->writeAttribute("name", getName());
    xmlWriter->writeAttribute("type", getTypeAsString());
    if (!getUnits().isEmpty()) {
        xmlWriter->writeAttribute("unit", getUnits());
    }
    for (unsigned int n = 0; n < numElements; ++n) {
        xmlWriter->writeStartElement("value");
        if (getElementNames().size() > 1) {
            xmlWriter->writeAttribute("name", getElementNames().at(n));
        }
        xmlWriter->writeCharacters(getValue(n).toString());
        xmlWriter->writeEndElement(); // value
    }
    xmlWriter->writeEndElement(); // field
}

void UAVObjectField::fromXML(QXmlStreamReader *xmlReader)
{
    // Assert we have the correct field by name
    Q_ASSERT(xmlReader->name() == "field");
    Q_ASSERT(xmlReader->attributes().value("name") == getName());
    // Read values, skip overflowing ones if any
    while (xmlReader->readNextStartElement()) {
        if (xmlReader->name() == "value") {
            int index = getElementNames().indexOf(xmlReader->attributes().value("name").toString());
            if (index >= 0) {
                setValue(xmlReader->readElementText(), index);
            }
        }
    }
}

void UAVObjectField::toJson(QJsonObject &jsonObject)
{
    jsonObject["name"] = getName();
    jsonObject["type"] = getTypeAsString();
    jsonObject["unit"] = getUnits();
    QJsonArray values;
    for (unsigned int n = 0; n < numElements; ++n) {
        QJsonObject value;
        value["name"]  = getElementNames().at(n);
        value["value"] = QJsonValue::fromVariant(getValue(n));
        values.append(value);
    }
    jsonObject["values"] = values;
}

void UAVObjectField::fromJson(const QJsonObject &jsonObject)
{
    Q_ASSERT(jsonObject["name"].toString() == getName());
    QJsonArray jsonValues = jsonObject["values"].toArray();
    for (int i = 0; i < jsonValues.size(); i++) {
        QJsonObject jsonValue = jsonValues.at(i).toObject();
        int index = getElementNames().indexOf(jsonValue["name"].toString());
        if (index >= 0) {
            setValue(((QJsonValue)jsonValue["value"]).toVariant(), index);
        }
    }
}

qint32 UAVObjectField::pack(quint8 *dataOut)
{
    QMutexLocker locker(obj->getMutex());

    // Pack each element in output buffer
    switch (type) {
    case INT8:
        memcpy(dataOut, &data[offset], numElements);
        break;
    case INT16:
        for (quint32 index = 0; index < numElements; ++index) {
            qint16 value;
            memcpy(&value, &data[offset + numBytesPerElement * index], numBytesPerElement);
            qToLittleEndian<qint16>(value, &dataOut[numBytesPerElement * index]);
        }
        break;
    case INT32:
        for (quint32 index = 0; index < numElements; ++index) {
            qint32 value;
            memcpy(&value, &data[offset + numBytesPerElement * index], numBytesPerElement);
            qToLittleEndian<qint32>(value, &dataOut[numBytesPerElement * index]);
        }
        break;
    case UINT8:
        for (quint32 index = 0; index < numElements; ++index) {
            dataOut[numBytesPerElement * index] = data[offset + numBytesPerElement * index];
        }
        break;
    case UINT16:
        for (quint32 index = 0; index < numElements; ++index) {
            quint16 value;
            memcpy(&value, &data[offset + numBytesPerElement * index], numBytesPerElement);
            qToLittleEndian<quint16>(value, &dataOut[numBytesPerElement * index]);
        }
        break;
    case UINT32:
        for (quint32 index = 0; index < numElements; ++index) {
            quint32 value;
            memcpy(&value, &data[offset + numBytesPerElement * index], numBytesPerElement);
            qToLittleEndian<quint32>(value, &dataOut[numBytesPerElement * index]);
        }
        break;
    case FLOAT32:
        for (quint32 index = 0; index < numElements; ++index) {
            quint32 value;
            memcpy(&value, &data[offset + numBytesPerElement * index], numBytesPerElement);
            qToLittleEndian<quint32>(value, &dataOut[numBytesPerElement * index]);
        }
        break;
    case ENUM:
        for (quint32 index = 0; index < numElements; ++index) {
            dataOut[numBytesPerElement * index] = data[offset + numBytesPerElement * index];
        }
        break;
    case BITFIELD:
        for (quint32 index = 0; index < (quint32)(1 + (numElements - 1) / 8); ++index) {
            dataOut[numBytesPerElement * index] = data[offset + numBytesPerElement * index];
        }
        break;
    case STRING:
        memcpy(dataOut, &data[offset], numElements);
        break;
    }
    // Done
    return getNumBytes();
}

qint32 UAVObjectField::unpack(const quint8 *dataIn)
{
    QMutexLocker locker(obj->getMutex());

    // Unpack each element from input buffer
    switch (type) {
    case INT8:
        memcpy(&data[offset], dataIn, numElements);
        break;
    case INT16:
        for (quint32 index = 0; index < numElements; ++index) {
            qint16 value;
            value = qFromLittleEndian<qint16>(&dataIn[numBytesPerElement * index]);
            memcpy(&data[offset + numBytesPerElement * index], &value, numBytesPerElement);
        }
        break;
    case INT32:
        for (quint32 index = 0; index < numElements; ++index) {
            qint32 value;
            value = qFromLittleEndian<qint32>(&dataIn[numBytesPerElement * index]);
            memcpy(&data[offset + numBytesPerElement * index], &value, numBytesPerElement);
        }
        break;
    case UINT8:
        for (quint32 index = 0; index < numElements; ++index) {
            data[offset + numBytesPerElement * index] = dataIn[numBytesPerElement * index];
        }
        break;
    case UINT16:
        for (quint32 index = 0; index < numElements; ++index) {
            quint16 value;
            value = qFromLittleEndian<quint16>(&dataIn[numBytesPerElement * index]);
            memcpy(&data[offset + numBytesPerElement * index], &value, numBytesPerElement);
        }
        break;
    case UINT32:
        for (quint32 index = 0; index < numElements; ++index) {
            quint32 value;
            value = qFromLittleEndian<quint32>(&dataIn[numBytesPerElement * index]);
            memcpy(&data[offset + numBytesPerElement * index], &value, numBytesPerElement);
        }
        break;
    case FLOAT32:
        for (quint32 index = 0; index < numElements; ++index) {
            quint32 value;
            value = qFromLittleEndian<quint32>(&dataIn[numBytesPerElement * index]);
            memcpy(&data[offset + numBytesPerElement * index], &value, numBytesPerElement);
        }
        break;
    case ENUM:
        for (quint32 index = 0; index < numElements; ++index) {
            data[offset + numBytesPerElement * index] = dataIn[numBytesPerElement * index];
        }
        break;
    case BITFIELD:
        for (quint32 index = 0; index < (quint32)(1 + (numElements - 1) / 8); ++index) {
            data[offset + numBytesPerElement * index] = dataIn[numBytesPerElement * index];
        }
        break;
    case STRING:
        memcpy(&data[offset], dataIn, numElements);
        break;
    }
    // Done
    return getNumBytes();
}

bool UAVObjectField::isNumeric()
{
    switch (type) {
    case INT8:
    case INT16:
    case INT32:
    case UINT8:
    case UINT16:
    case UINT32:
    case FLOAT32:
    case BITFIELD:
        return true;

        break;
    default:
        return false;
    }
}

bool UAVObjectField::isInteger()
{
    switch (type) {
    case INT8:
    case INT16:
    case INT32:
    case UINT8:
    case UINT16:
    case UINT32:
        return true;

        break;
    default:
        return false;
    }
}

bool UAVObjectField::isText()
{
    switch (type) {
    case ENUM:
    case STRING:
        return true;

        break;
    default:
        return false;
    }
}

QVariant UAVObjectField::getValue(quint32 index)
{
    QMutexLocker locker(obj->getMutex());

    // Check that index is not out of bounds
    if (index >= numElements) {
        return QVariant();
    }
    // Get value
    switch (type) {
    case INT8:
    {
        qint8 tmpint8;
        memcpy(&tmpint8, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpint8);

        break;
    }
    case INT16:
    {
        qint16 tmpint16;
        memcpy(&tmpint16, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpint16);

        break;
    }
    case INT32:
    {
        qint32 tmpint32;
        memcpy(&tmpint32, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpint32);

        break;
    }
    case UINT8:
    {
        quint8 tmpuint8;
        memcpy(&tmpuint8, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpuint8);

        break;
    }
    case UINT16:
    {
        quint16 tmpuint16;
        memcpy(&tmpuint16, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpuint16);

        break;
    }
    case UINT32:
    {
        quint32 tmpuint32;
        memcpy(&tmpuint32, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpuint32);

        break;
    }
    case FLOAT32:
    {
        float tmpfloat;
        memcpy(&tmpfloat, &data[offset + numBytesPerElement * index], numBytesPerElement);
        return QVariant(tmpfloat);

        break;
    }
    case ENUM:
    {
        quint8 tmpenum;
        memcpy(&tmpenum, &data[offset + numBytesPerElement * index], numBytesPerElement);
        if (tmpenum >= options.length()) {
            qDebug() << "Invalid value for" << name;
            tmpenum = 0;
        }
        return QVariant(options[tmpenum]);

        break;
    }
    case BITFIELD:
    {
        quint8 tmpbitfield;
        memcpy(&tmpbitfield, &data[offset + numBytesPerElement * ((quint32)(index / 8))], numBytesPerElement);
        tmpbitfield = (tmpbitfield >> (index % 8)) & 1;
        return QVariant(tmpbitfield);

        break;
    }
    case STRING:
    {
        data[offset + numElements - 1] = '\0';
        QString str((char *)&data[offset]);
        return QVariant(str);

        break;
    }
    }
    // If this point is reached then we got an invalid type
    return QVariant();
}

bool UAVObjectField::checkValue(const QVariant & value, quint32 index)
{
    QMutexLocker locker(obj->getMutex());

    // Check that index is not out of bounds
    if (index >= numElements) {
        return false;
    }
    // Get metadata
    UAVObject::Metadata mdata = obj->getMetadata();
    // Update value if the access mode permits
    if (UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READWRITE) {
        switch (type) {
        case INT8:
        case INT16:
        case INT32:
        case UINT8:
        case UINT16:
        case UINT32:
        case FLOAT32:
        case STRING:
        case BITFIELD:
            return true;

            break;
        case ENUM:
        {
            qint8 tmpenum = options.indexOf(value.toString());
            return (tmpenum < 0) ? false : true;

            break;
        }
        default:
            qDebug() << "checkValue: other types" << type;
            Q_ASSERT(0); // To catch any programming errors where we tried to test invalid values
            break;
        }
    }
    return true;
}

void UAVObjectField::setValue(const QVariant & value, quint32 index)
{
    QMutexLocker locker(obj->getMutex());

    // Check that index is not out of bounds
    if (index >= numElements) {
        return;
    }
    // Get metadata
    UAVObject::Metadata mdata = obj->getMetadata();
    // Update value if the access mode permits
    if (UAVObject::GetGcsAccess(mdata) == UAVObject::ACCESS_READWRITE) {
        switch (type) {
        case INT8:
        {
            qint8 tmpint8 = value.toInt();
            memcpy(&data[offset + numBytesPerElement * index], &tmpint8, numBytesPerElement);
            break;
        }
        case INT16:
        {
            qint16 tmpint16 = value.toInt();
            memcpy(&data[offset + numBytesPerElement * index], &tmpint16, numBytesPerElement);
            break;
        }
        case INT32:
        {
            qint32 tmpint32 = value.toInt();
            memcpy(&data[offset + numBytesPerElement * index], &tmpint32, numBytesPerElement);
            break;
        }
        case UINT8:
        {
            quint8 tmpuint8 = value.toUInt();
            memcpy(&data[offset + numBytesPerElement * index], &tmpuint8, numBytesPerElement);
            break;
        }
        case UINT16:
        {
            quint16 tmpuint16 = value.toUInt();
            memcpy(&data[offset + numBytesPerElement * index], &tmpuint16, numBytesPerElement);
            break;
        }
        case UINT32:
        {
            quint32 tmpuint32 = value.toUInt();
            memcpy(&data[offset + numBytesPerElement * index], &tmpuint32, numBytesPerElement);
            break;
        }
        case FLOAT32:
        {
            float tmpfloat = value.toFloat();
            memcpy(&data[offset + numBytesPerElement * index], &tmpfloat, numBytesPerElement);
            break;
        }
        case ENUM:
        {
            qint8 tmpenum = options.indexOf(value.toString());
            // Default to 0 on invalid values.
            if (tmpenum < 0) {
                tmpenum = 0;
            }
            memcpy(&data[offset + numBytesPerElement * index], &tmpenum, numBytesPerElement);
            break;
        }
        case BITFIELD:
        {
            quint8 tmpbitfield;
            memcpy(&tmpbitfield, &data[offset + numBytesPerElement * ((quint32)(index / 8))], numBytesPerElement);
            tmpbitfield = (tmpbitfield & ~(1 << (index % 8))) | ((value.toUInt() != 0 ? 1 : 0) << (index % 8));
            memcpy(&data[offset + numBytesPerElement * ((quint32)(index / 8))], &tmpbitfield, numBytesPerElement);
            break;
        }
        case STRING:
        {
            QString str = value.toString();
            QByteArray barray = str.toLatin1();
            quint32 index;
            for (index = 0; index < (quint32)barray.length() && index < (numElements - 1); ++index) {
                data[offset + index] = barray[index];
            }
            barray[index] = '\0';
            break;
        }
        }
    }
}

double UAVObjectField::getDouble(quint32 index)
{
    return getValue(index).toDouble();
}

void UAVObjectField::setDouble(double value, quint32 index)
{
    setValue(QVariant(value), index);
}
